CN116299585B - GNSS carrier phase time transfer method considering inter-epoch differential information - Google Patents
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Abstract
The invention relates to the field of carrier phase time transmission, in particular to a GNSS carrier phase time transmission method considering inter-epoch differential information. Acquiring pseudo-range observation values, carrier phase observation values and precise satellite orbit and clock error product data of two time transfer stations in real time; preprocessing the pseudo-range observation value and the carrier phase observation value, and constructing a carrier phase time transfer model; establishing a differential solution model between epochs, and performing clock difference solution based on the carrier phase time transfer model and the differential solution model between epochs to acquire the clock differences of GNSS receivers of two time transfer stations of the current epoch; and acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations of the current epoch. According to the invention, the time transfer model is effectively enhanced through the acquisition of the inter-epoch differential information, the resolving strength of the receiver clock error is improved, and the performance of GNSS carrier phase time transfer is further enhanced.
Description
Technical Field
The invention relates to the field of carrier phase time transmission, in particular to a GNSS carrier phase time transmission method considering inter-epoch differential information.
Background
The remote time transfer technology of the global satellite navigation system (GNSS) is used as a time-space time-frequency transfer technology integrating the advantages of high application efficiency, low cost, small equipment volume, flexible maneuvering, simple maintenance and the like, and is widely applied to the fields of satellite navigation, electric power, communication, traffic, national defense, military industry, scientific research and the like. With the continuous development of high-precision time-frequency standards, especially, remote time transfer technology is an important means for establishing a connection with national standard time-frequency, and higher requirements are also put on time transfer performance.
However, the conventional GNSS carrier phase time transfer technology only uses the pseudo-range and carrier phase observed quantity of the current epoch, and is influenced by the observation environment and the receiver hardware equipment, and in the observed quantity, an abnormality is generated along with the increase of the transfer duration, so that the precision of time transfer is attenuated.
Disclosure of Invention
In order to solve the problem that in the prior art, abnormality occurs along with the increase of transmission time length, and the precision of time transmission is attenuated, the invention provides a GNSS carrier phase time transmission method taking inter-epoch differential information into consideration, which comprises the following steps: acquiring pseudo-range observation values, carrier phase observation values and precise satellite orbit and clock error product data of two time transfer stations in real time; preprocessing the pseudo-range observation value and the carrier phase observation value, and constructing a carrier phase time transfer model; establishing a differential solution model between epochs, and performing clock difference solution based on the carrier phase time transfer model and the differential solution model between epochs to acquire the clock differences of GNSS receivers of two time transfer stations of the current epoch; and acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations of the current epoch. According to the invention, the time transfer model is effectively enhanced through the acquisition of the inter-epoch differential information, the resolving strength of the receiver clock error is improved, and the performance of GNSS carrier phase time transfer is further enhanced.
The invention adopts the following technical scheme that the GNSS carrier phase time transmission method considering inter-epoch differential information comprises the following steps:
acquiring GNSS double-frequency pseudo-range observation values and carrier phase observation values of each epoch of two time transfer stations, and corresponding GNSS precise satellite orbit and clock error product data in real time;
preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value, and constructing a carrier phase time transfer model according to the preprocessed double-frequency pseudo-range observation value and the preprocessed carrier phase observation value;
when cycle slip does not occur, a differential solution model between epochs is established according to the double-frequency pseudo-range observed value and the carrier phase observed value of the last epoch and the current epoch;
performing clock difference calculation based on the carrier phase time transfer model and a differential calculation model between epochs to acquire the clock differences of GNSS receivers of two time transfer stations of the current epoch;
and acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations of the current epoch.
Further, the method for preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value comprises the following steps:
and carrying out data classification, outlier removal and correction of tidal and antenna phase center errors on the acquired GNSS double-frequency pseudo-range observation values and carrier phase observation values.
Further, preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value, and further includes:
performing cycle-slip detection on the acquired GNSS double-frequency pseudo-range observation value and carrier phase observation value, and constructing a double-frequency ionosphere-free pseudo-range and carrier phase combination quantity, wherein the combination quantity is expressed as follows:
；
wherein ,ionosphere-free combined observations representing pseudoranges,ionosphere-free combined observations representing carrier phase,andrepresenting two double-frequency pseudorange observations,andfor two dual-frequency carrier phase observations,andthe frequency points of the two frequencies are respectively.
Further, establishing a differential solution model between epochs as follows:
；
wherein ,for an inter-epoch one-time difference operator, k represents the kth epoch,the next epoch, denoted the kth epoch, i is the satellite identification, r is the receiver identification,representing the distance between satellite i and receiver r,indicating the receiver clock-difference and,representing the clock rate of the satellite,representing the noise of the pseudo-range,representing carrier phase noise, c is the speed of light,ionosphere-free combined observations representing pseudoranges,ionosphere-free combined observations representing carrier phase,representing ionospheric delay.
Further, the method for performing clock difference calculation based on the carrier phase time transfer model and the inter-epoch difference calculation model comprises the following steps:
based on the carrier phase time transfer model and the inter-epoch differential solution model, fusing to construct a receiver clock difference solution model of inter-epoch differential information;
the receiver clock error solution model comprises a function model and a random model, wherein the function model is as follows:
；
wherein ,Ionosphere-free combined observations representing pseudoranges,ionosphere-free combined observations representing carrier phase,representing the distance between satellite i and receiver r,indicating the receiver clock-difference and,representing the clock rate of the satellite,representing the noise of the pseudo-range,representing carrier phase noise, c is the speed of light,in order for the tropospheric delay to be sufficient,in order to provide carrier phase ambiguity,for the one-time difference operator between epochs,for the kth epoch and the kth epochThe amount of clock difference between epochs.
The random model is:
；
wherein ,weight allocation for time transfer model, +.>For the corresponding middle error in the time transfer model, < +.>Weight assignment for differential solution model between epochs, +.>Corresponding medium errors in the model are calculated for the inter-epoch difference solutions.
Further, the clock difference calculating process further includes:
correcting parameters in a receiver clock difference solution model, comprising:
the troposphere delay is corrected according to the model and is simulated and estimated by combining a random process of random walk;
the carrier phase ambiguity is estimated as a constant in the case of continuous no cycle slip;
the receiver clock difference is estimated epoch by epoch as gaussian white noise.
Further, the method for acquiring the time transfer amount according to the clock difference of the GNSS receivers of the two time transfer stations of the current epoch is as follows:
and obtaining the difference value between the receiver clock differences of the current epochs of the two time transfer stations, and obtaining the time transfer quantity between the two corresponding time transfer stations according to the sum of the difference value and the inherent delay in the time transfer link.
Further, a carrier phase time transfer model is constructed according to the preprocessed double-frequency pseudo-range observation value and the carrier phase observation value, and the model specifically comprises the following steps:
；
wherein ,ionosphere-free combined observables representing pseudoranges, +.>Ionosphere-free combined observables representing carrier phase, i being satellite identification, r being receiver identification, c being speed of light, ++>Representing receiver clock error, +.>Representing satellite clock error, ++>Representing pseudo-range noise->Representing carrier phase noise, < >>For tropospheric delay, ++>Is carrier phase ambiguity.
The beneficial effects of the invention are as follows: according to the invention, a clock difference resolving model based on inter-epoch difference is established, so that the difference information between epochs can be effectively acquired, meanwhile, the differential information between epochs is modeled and fused with a carrier phase time transfer model, the correlation information of a GNSS observed quantity in a time domain is fused into the GNSS carrier phase time transfer model, the correlation of the observed quantity in the time domain can be considered, the estimation precision of the clock speed parameter of a receiver is improved by utilizing the correlation, a foundation is laid for further improving the carrier phase time transfer performance of the GNSS, and meanwhile, a theoretical support is provided for improving the reliability of time transfer.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flowchart of a GNSS carrier phase time transfer method taking inter-epoch differential information into consideration according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of constructing a receiver clock difference solution model according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Firstly, constructing an inter-epoch differential model by using GNSS observation data to obtain the change rate of receiver clock error parameters among epochs, and then constructing a time transfer model based on inter-epoch differential enhancement by combining a traditional GNSS carrier phase time transfer model to enhance the resolving strength of the receiver clock error parameters so as to further achieve the purpose of improving the GNSS time transfer performance. Referring to fig. 1, a flowchart of a GNSS carrier phase time transfer method taking inter-epoch differential information into consideration according to an embodiment of the present invention is provided, including:
101. acquiring GNSS double-frequency pseudo-range observation values and carrier phase observation values of each epoch of two time transfer stations, and corresponding GNSS precise satellite orbit and clock error product data in real time;
102. preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value, and constructing a carrier phase time transfer model according to the preprocessed double-frequency pseudo-range observation value and the preprocessed carrier phase observation value;
the invention respectively processes GNSS observation data of two time transfer stations, including measurement integrity check, outlier detection and rejection and cycle slip detection and marking, so as to obtain clean observation data. Next, various preparations before the generation of the model observation equation are completed by correcting ionospheric errors, tropospheric, satellite and receiver related biases, and errors of the earth's tides, sea tides, etc.
Specifically, the method for preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value comprises the following steps:
and carrying out data classification, outlier removal and correction of tidal and antenna phase center errors on the acquired GNSS double-frequency pseudo-range observation values and carrier phase observation values.
Preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value, and further comprising:
performing cycle-slip detection on the acquired GNSS double-frequency pseudo-range observation value and carrier phase observation value, and constructing a double-frequency ionosphere-free pseudo-range and carrier phase combination quantity, wherein the combination quantity is expressed as follows:
；
wherein ,ionosphere-free combined observations representing pseudoranges,ionosphere-free combined observations representing carrier phase,andrepresenting two double-frequency pseudorange observations,andfor two dual-frequency carrier phase observations,andthe frequency points of the two frequencies are respectively.
Constructing a carrier phase time transfer model according to the preprocessed double-frequency pseudo-range observation value and the carrier phase observation value, wherein the model specifically comprises the following steps:
；
wherein ,ionosphere-free combined observables representing pseudoranges, +.>Ionosphere-free combined observables representing carrier phase, i being satellite identification, r being receiver identification, c being speed of light, ++>Representing receiver clock error, +.>Representing satellite clock error, ++>Representing pseudo-range noise->Representing carrier phase noise, < >>For tropospheric delay, ++>Is carrier phase ambiguity.
103. When cycle slip does not occur, a differential solution model between epochs is established according to the double-frequency pseudo-range observed value and the carrier phase observed value of the last epoch and the current epoch;
establishing a differential solution model among epochs as follows:
；
wherein ,for an inter-epoch one-time difference operator, k represents the kth epoch,the next epoch, denoted the kth epoch, i is the satellite identification, r is the receiver identification,representing the distance between satellite i and receiver r,indicating the receiver clock-difference and,representing the clock rate of the satellite,representing the noise of the pseudo-range,representing carrier phase noise, c is the speed of light,ionosphere-free combined observations representing pseudoranges,ionosphere-free combined observations representing carrier phase,representing ionospheric delay.
In a specific embodiment, if a cycle slip occurs in the current epoch, the cycle slip epoch is marked, a calculation arc segment is reselected, and a clock difference resolving model based on inter-epoch difference is constructed at the second epoch of the arc segment, so that inter-epoch information is extracted and modeled.
104. Performing clock difference calculation based on the carrier phase time transfer model and a differential calculation model between epochs to acquire the clock differences of GNSS receivers of two time transfer stations of the current epoch;
the method for performing clock difference calculation based on the carrier phase time transfer model and the inter-epoch differential calculation model comprises the following steps:
and based on the carrier phase time transfer model and the inter-epoch differential solution model, fusing to construct a receiver clock difference solution model of inter-epoch differential information, wherein a flow diagram of constructing the receiver clock difference solution model is shown in fig. 2.
The receiver clock error solution model comprises a function model and a random model, wherein the function model is as follows:
；
wherein ,ionosphere-free combined observations representing pseudoranges,ionosphere-free combined observations representing carrier phase,representing the distance between satellite i and receiver r,indicating the receiver clock-difference and,representing the clock rate of the satellite,representing the noise of the pseudo-range,representing carrier phase noise, c is the speed of light,in order for the tropospheric delay to be sufficient,in order to provide carrier phase ambiguity,for the one-time difference operator between epochs,for the kth epoch and the kth epochThe amount of clock difference between epochs.
The random model is:
；
wherein ,weight allocation for time transfer model, +.>For the corresponding middle error in the time transfer model, < +.>Weight assignment for differential solution model between epochs, +.>For the corresponding medium errors in the inter-epoch differential solution model, in one particular embodiment, they are typically given directly in terms of 2:1 empirical values.
The clock difference calculating step further comprises the step of correcting parameters in a receiver clock difference calculating model, and comprises the following steps: the troposphere delay is corrected according to the model and is simulated and estimated by combining a random process of random walk; the carrier phase ambiguity is estimated as a constant in the case of continuous no cycle slip; the receiver clock difference is estimated epoch by epoch as gaussian white noise.
105. And acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations of the current epoch.
The method for acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations in the current epoch comprises the following steps:
obtaining a difference value between receiver clock differences of current epochs of two time transfer stations, and obtaining a time transfer quantity between the two corresponding time transfer stations according to the sum of the difference value and inherent delay in a time transfer link, wherein the specific expression is as follows:
；
wherein ,for the time transfer, A and B are the identifiers of the time transfer stations, < >>Is an inherent delay of the time transfer link.
According to the invention, a clock difference resolving model based on inter-epoch difference is established, so that the difference information between epochs can be effectively acquired, meanwhile, the differential information between epochs is modeled and fused with a carrier phase time transfer model, the correlation information of a GNSS observed quantity in a time domain is fused into the GNSS carrier phase time transfer model, the correlation of the observed quantity in the time domain can be considered, the estimation precision of the clock speed parameter of a receiver is improved by utilizing the correlation, a foundation is laid for further improving the carrier phase time transfer performance of the GNSS, and meanwhile, a theoretical support is provided for improving the reliability of time transfer.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. A GNSS carrier phase time transfer method taking inter-epoch differential information into account, comprising:
acquiring GNSS double-frequency pseudo-range observation values and carrier phase observation values of each epoch of two time transfer stations, and corresponding GNSS precise satellite orbit and clock error product data in real time;
preprocessing the double-frequency pseudo-range observation value and the carrier phase observation value, and constructing a carrier phase time transfer model according to the preprocessed double-frequency pseudo-range observation value and the preprocessed carrier phase observation value;
when cycle slip does not occur, a differential solution model between epochs is established according to the double-frequency pseudo-range observed value and the carrier phase observed value of the last epoch and the current epoch;
performing clock difference calculation based on the carrier phase time transfer model and a differential calculation model between epochs to acquire the clock differences of GNSS receivers of two time transfer stations of the current epoch;
based on the carrier phase time transfer model and the inter-epoch differential solution model, a receiver clock difference solution model of inter-epoch differential information is constructed, wherein the receiver clock difference solution model comprises a function model and a random model, and the function model is as follows:
；
wherein ,ionosphere-free combined observables representing pseudoranges, +.>Ionosphere-free combined observations representing carrier phase,representing the distance between satellite i and receiver r, < >>Representing receiver clock error, +.>Representing satellite clock error, ++>Representing pseudo-range noise->Representing carrier phase noise, < >>For the speed of light->For tropospheric delay, ++>For carrier phase ambiguity, +.>For one difference operator between epochs,/for>For the kth epoch and +.>A clock difference component between epochs;
the random model is:
；
wherein ,weight allocation for time transfer model, +.>For the corresponding middle error in the time transfer model, < +.>Weight assignment for differential solution model between epochs, +.>Calculating corresponding medium errors in the model for the difference between epochs;
and acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations of the current epoch.
2. The method for GNSS carrier-phase time transfer taking into account inter-epoch differential information of claim 1, wherein the method for preprocessing the dual-frequency pseudorange observations and carrier-phase observations is:
and carrying out data classification, outlier removal and correction of tidal and antenna phase center errors on the acquired GNSS double-frequency pseudo-range observation values and carrier phase observation values.
3. The method of claim 1, wherein the preprocessing of the dual-frequency pseudorange observations and carrier phase observations further comprises:
performing cycle-slip detection on the acquired GNSS double-frequency pseudo-range observation value and carrier phase observation value, and constructing a double-frequency ionosphere-free pseudo-range and carrier phase combination quantity, wherein the combination quantity is expressed as follows:
；
wherein ,ionosphere-free combined observables representing pseudoranges, +.>Ionosphere-free combined observations representing carrier phase, and />Representing two double frequency pseudo-range observations, +.> and />For two dual-frequency carrier phase observations, +.> and />The frequency points of the two frequencies are respectively.
4. The method for GNSS carrier-phase time transfer taking into account inter-epoch differential information of claim 1, wherein establishing the inter-epoch differential solution model is:
；
wherein ,for the one-time difference operator between epochs, k represents the kth epoch,/for the one-time difference operator>The next epoch, i being the satellite identity, r being the receiver identity,/-for the kth epoch>Representing the distance between satellite i and receiver r, < >>Representing receiver clock error, +.>Representing satellite clock error, ++>Representing pseudo-range noise->Representing carrier phase noise, < >>For the speed of light->Ionosphere-free combined observables representing pseudoranges, +.>Ionosphere-free combined observables representing carrier phase, +.>Representing ionospheric delay.
5. The method of claim 1, wherein performing the clock-difference solution further comprises:
correcting parameters in a receiver clock difference solution model, comprising:
the troposphere delay is corrected according to the model and is simulated and estimated by combining a random process of random walk;
the carrier phase ambiguity is estimated as a constant in the case of continuous no cycle slip;
the receiver clock difference is estimated epoch by epoch as gaussian white noise.
6. A GNSS carrier-phase time transfer method taking into account inter-epoch differential information as defined in claim 1, wherein: the method for acquiring the time transfer quantity according to the clock difference of the GNSS receivers of the two time transfer stations in the current epoch comprises the following steps:
and obtaining the difference value between the receiver clock differences of the current epochs of the two time transfer stations, and obtaining the time transfer quantity between the two corresponding time transfer stations according to the sum of the difference value and the inherent delay in the time transfer link.
7. The GNSS carrier-phase time transfer method taking inter-epoch differential information into account according to claim 1, wherein a carrier-phase time transfer model is constructed according to the preprocessed double-frequency pseudo-range observation value and carrier-phase observation value, and the model specifically comprises:
；
wherein ,ionosphere-free combined observables representing pseudoranges, +.>Ionosphere-free combined observables representing carrier phase, i being satellite identification, r being receiver identification, c being speed of light, ++>Representing receiver clock error, +.>Representing satellite clock error, ++>Representing pseudo-range noise->Representing carrier phase noise, < >>For tropospheric delay, ++>Is carrier phase ambiguity.
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